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#ifndef STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H
#define STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H

namespace stella_vslam {
namespace feature {

// (X, Y) x 2 points x 256 bits = 1024
static constexpr unsigned int orb_point_pairs_size = 256 * 4;

// quoted from
// https://github.com/opencv/opencv/blob/50bec53afcf010e425b3f015c71297d46ef78903/modules/features2d/src/orb.cpp#L375
alignas(16) static constexpr float orb_point_pairs[orb_point_pairs_size] = {
    8, -3, 9, 5,       /* mean (0), correlation (0) */
    4, 2, 7, -12,      /* mean (1.12461e-05), correlation (0.0437584) */
    -11, 9, -8, 2,     /* mean (3.37382e-05), correlation (0.0617409) */
    7, -12, 12, -13,   /* mean (5.62303e-05), correlation (0.0636977) */
    2, -13, 2, 12,     /* mean (0.000134953), correlation (0.085099) */
    1, -7, 1, 6,       /* mean (0.000528565), correlation (0.0857175) */
    -2, -10, -2, -4,   /* mean (0.0188821), correlation (0.0985774) */
    -13, -13, -11, -8, /* mean (0.0363135), correlation (0.0899616) */
    -13, -3, -12, -9,  /* mean (0.121806), correlation (0.099849) */
    10, 4, 11, 9,      /* mean (0.122065), correlation (0.093285) */
    -13, -8, -8, -9,   /* mean (0.162787), correlation (0.0942748) */
    -11, 7, -9, 12,    /* mean (0.21561), correlation (0.0974438) */
    7, 7, 12, 6,       /* mean (0.160583), correlation (0.130064) */
    -4, -5, -3, 0,     /* mean (0.228171), correlation (0.132998) */
    -13, 2, -12, -3,   /* mean (0.00997526), correlation (0.145926) */
    -9, 0, -7, 5,      /* mean (0.198234), correlation (0.143636) */
    12, -6, 12, -1,    /* mean (0.0676226), correlation (0.16689) */
    -3, 6, -2, 12,     /* mean (0.166847), correlation (0.171682) */
    -6, -13, -4, -8,   /* mean (0.101215), correlation (0.179716) */
    11, -13, 12, -8,   /* mean (0.200641), correlation (0.192279) */
    4, 7, 5, 1,        /* mean (0.205106), correlation (0.186848) */
    5, -3, 10, -3,     /* mean (0.234908), correlation (0.192319) */
    3, -7, 6, 12,      /* mean (0.0709964), correlation (0.210872) */
    -8, -7, -6, -2,    /* mean (0.0939834), correlation (0.212589) */
    -2, 11, -1, -10,   /* mean (0.127778), correlation (0.20866) */
    -13, 12, -8, 10,   /* mean (0.14783), correlation (0.206356) */
    -7, 3, -5, -3,     /* mean (0.182141), correlation (0.198942) */
    -4, 2, -3, 7,      /* mean (0.188237), correlation (0.21384) */
    -10, -12, -6, 11,  /* mean (0.14865), correlation (0.23571) */
    5, -12, 6, -7,     /* mean (0.222312), correlation (0.23324) */
    5, -6, 7, -1,      /* mean (0.229082), correlation (0.23389) */
    1, 0, 4, -5,       /* mean (0.241577), correlation (0.215286) */
    9, 11, 11, -13,    /* mean (0.00338507), correlation (0.251373) */
    4, 7, 4, 12,       /* mean (0.131005), correlation (0.257622) */
    2, -1, 4, 4,       /* mean (0.152755), correlation (0.255205) */
    -4, -12, -2, 7,    /* mean (0.182771), correlation (0.244867) */
    -8, -5, -7, -10,   /* mean (0.186898), correlation (0.23901) */
    4, 11, 9, 12,      /* mean (0.226226), correlation (0.258255) */
    0, -8, 1, -13,     /* mean (0.0897886), correlation (0.274827) */
    -13, -2, -8, 2,    /* mean (0.148774), correlation (0.28065) */
    -3, -2, -2, 3,     /* mean (0.153048), correlation (0.283063) */
    -6, 9, -4, -9,     /* mean (0.169523), correlation (0.278248) */
    8, 12, 10, 7,      /* mean (0.225337), correlation (0.282851) */
    0, 9, 1, 3,        /* mean (0.226687), correlation (0.278734) */
    7, -5, 11, -10,    /* mean (0.00693882), correlation (0.305161) */
    -13, -6, -11, 0,   /* mean (0.0227283), correlation (0.300181) */
    10, 7, 12, 1,      /* mean (0.125517), correlation (0.31089) */
    -6, -3, -6, 12,    /* mean (0.131748), correlation (0.312779) */
    10, -9, 12, -4,    /* mean (0.144827), correlation (0.292797) */
    -13, 8, -8, -12,   /* mean (0.149202), correlation (0.308918) */
    -13, 0, -8, -4,    /* mean (0.160909), correlation (0.310013) */
    3, 3, 7, 8,        /* mean (0.177755), correlation (0.309394) */
    5, 7, 10, -7,      /* mean (0.212337), correlation (0.310315) */
    -1, 7, 1, -12,     /* mean (0.214429), correlation (0.311933) */
    3, -10, 5, 6,      /* mean (0.235807), correlation (0.313104) */
    2, -4, 3, -10,     /* mean (0.00494827), correlation (0.344948) */
    -13, 0, -13, 5,    /* mean (0.0549145), correlation (0.344675) */
    -13, -7, -12, 12,  /* mean (0.103385), correlation (0.342715) */
    -13, 3, -11, 8,    /* mean (0.134222), correlation (0.322922) */
    -7, 12, -4, 7,     /* mean (0.153284), correlation (0.337061) */
    6, -10, 12, 8,     /* mean (0.154881), correlation (0.329257) */
    -9, -1, -7, -6,    /* mean (0.200967), correlation (0.33312) */
    -2, -5, 0, 12,     /* mean (0.201518), correlation (0.340635) */
    -12, 5, -7, 5,     /* mean (0.207805), correlation (0.335631) */
    3, -10, 8, -13,    /* mean (0.224438), correlation (0.34504) */
    -7, -7, -4, 5,     /* mean (0.239361), correlation (0.338053) */
    -3, -2, -1, -7,    /* mean (0.240744), correlation (0.344322) */
    2, 9, 5, -11,      /* mean (0.242949), correlation (0.34145) */
    -11, -13, -5, -13, /* mean (0.244028), correlation (0.336861) */
    -1, 6, 0, -1,      /* mean (0.247571), correlation (0.343684) */
    5, -3, 5, 2,       /* mean (0.000697256), correlation (0.357265) */
    -4, -13, -4, 12,   /* mean (0.00213675), correlation (0.373827) */
    -9, -6, -9, 6,     /* mean (0.0126856), correlation (0.373938) */
    -12, -10, -8, -4,  /* mean (0.0152497), correlation (0.364237) */
    10, 2, 12, -3,     /* mean (0.0299933), correlation (0.345292) */
    7, 12, 12, 12,     /* mean (0.0307242), correlation (0.366299) */
    -7, -13, -6, 5,    /* mean (0.0534975), correlation (0.368357) */
    -4, 9, -3, 4,      /* mean (0.099865), correlation (0.372276) */
    7, -1, 12, 2,      /* mean (0.117083), correlation (0.364529) */
    -7, 6, -5, 1,      /* mean (0.126125), correlation (0.369606) */
    -13, 11, -12, 5,   /* mean (0.130364), correlation (0.358502) */
    -3, 7, -2, -6,     /* mean (0.131691), correlation (0.375531) */
    7, -8, 12, -7,     /* mean (0.160166), correlation (0.379508) */
    -13, -7, -11, -12, /* mean (0.167848), correlation (0.353343) */
    1, -3, 12, 12,     /* mean (0.183378), correlation (0.371916) */
    2, -6, 3, 0,       /* mean (0.228711), correlation (0.371761) */
    -4, 3, -2, -13,    /* mean (0.247211), correlation (0.364063) */
    -1, -13, 1, 9,     /* mean (0.249325), correlation (0.378139) */
    7, 1, 8, -6,       /* mean (0.000652272), correlation (0.411682) */
    1, -1, 3, 12,      /* mean (0.00248538), correlation (0.392988) */
    9, 1, 12, 6,       /* mean (0.0206815), correlation (0.386106) */
    -1, -9, -1, 3,     /* mean (0.0364485), correlation (0.410752) */
    -13, -13, -10, 5,  /* mean (0.0376068), correlation (0.398374) */
    7, 7, 10, 12,      /* mean (0.0424202), correlation (0.405663) */
    12, -5, 12, 9,     /* mean (0.0942645), correlation (0.410422) */
    6, 3, 7, 11,       /* mean (0.1074), correlation (0.413224) */
    5, -13, 6, 10,     /* mean (0.109256), correlation (0.408646) */
    2, -12, 2, 3,      /* mean (0.131691), correlation (0.416076) */
    3, 8, 4, -6,       /* mean (0.165081), correlation (0.417569) */
    2, 6, 12, -13,     /* mean (0.171874), correlation (0.408471) */
    9, -12, 10, 3,     /* mean (0.175146), correlation (0.41296) */
    -8, 4, -7, 9,      /* mean (0.183682), correlation (0.402956) */
    -11, 12, -4, -6,   /* mean (0.184672), correlation (0.416125) */
    1, 12, 2, -8,      /* mean (0.191487), correlation (0.386696) */
    6, -9, 7, -4,      /* mean (0.192668), correlation (0.394771) */
    2, 3, 3, -2,       /* mean (0.200157), correlation (0.408303) */
    6, 3, 11, 0,       /* mean (0.204588), correlation (0.411762) */
    3, -3, 8, -8,      /* mean (0.205904), correlation (0.416294) */
    7, 8, 9, 3,        /* mean (0.213237), correlation (0.409306) */
    -11, -5, -6, -4,   /* mean (0.243444), correlation (0.395069) */
    -10, 11, -5, 10,   /* mean (0.247672), correlation (0.413392) */
    -5, -8, -3, 12,    /* mean (0.24774), correlation (0.411416) */
    -10, 5, -9, 0,     /* mean (0.00213675), correlation (0.454003) */
    8, -1, 12, -6,     /* mean (0.0293635), correlation (0.455368) */
    4, -6, 6, -11,     /* mean (0.0404971), correlation (0.457393) */
    -10, 12, -8, 7,    /* mean (0.0481107), correlation (0.448364) */
    4, -2, 6, 7,       /* mean (0.050641), correlation (0.455019) */
    -2, 0, -2, 12,     /* mean (0.0525978), correlation (0.44338) */
    -5, -8, -5, 2,     /* mean (0.0629667), correlation (0.457096) */
    7, -6, 10, 12,     /* mean (0.0653846), correlation (0.445623) */
    -9, -13, -8, -8,   /* mean (0.0858749), correlation (0.449789) */
    -5, -13, -5, -2,   /* mean (0.122402), correlation (0.450201) */
    8, -8, 9, -13,     /* mean (0.125416), correlation (0.453224) */
    -9, -11, -9, 0,    /* mean (0.130128), correlation (0.458724) */
    1, -8, 1, -2,      /* mean (0.132467), correlation (0.440133) */
    7, -4, 9, 1,       /* mean (0.132692), correlation (0.454) */
    -2, 1, -1, -4,     /* mean (0.135695), correlation (0.455739) */
    11, -6, 12, -11,   /* mean (0.142904), correlation (0.446114) */
    -12, -9, -6, 4,    /* mean (0.146165), correlation (0.451473) */
    3, 7, 7, 12,       /* mean (0.147627), correlation (0.456643) */
    5, 5, 10, 8,       /* mean (0.152901), correlation (0.455036) */
    0, -4, 2, 8,       /* mean (0.167083), correlation (0.459315) */
    -9, 12, -5, -13,   /* mean (0.173234), correlation (0.454706) */
    0, 7, 2, 12,       /* mean (0.18312), correlation (0.433855) */
    -1, 2, 1, 7,       /* mean (0.185504), correlation (0.443838) */
    5, 11, 7, -9,      /* mean (0.185706), correlation (0.451123) */
    3, 5, 6, -8,       /* mean (0.188968), correlation (0.455808) */
    -13, -4, -8, 9,    /* mean (0.191667), correlation (0.459128) */
    -5, 9, -3, -3,     /* mean (0.193196), correlation (0.458364) */
    -4, -7, -3, -12,   /* mean (0.196536), correlation (0.455782) */
    6, 5, 8, 0,        /* mean (0.1972), correlation (0.450481) */
    -7, 6, -6, 12,     /* mean (0.199438), correlation (0.458156) */
    -13, 6, -5, -2,    /* mean (0.211224), correlation (0.449548) */
    1, -10, 3, 10,     /* mean (0.211718), correlation (0.440606) */
    4, 1, 8, -4,       /* mean (0.213034), correlation (0.443177) */
    -2, -2, 2, -13,    /* mean (0.234334), correlation (0.455304) */
    2, -12, 12, 12,    /* mean (0.235684), correlation (0.443436) */
    -2, -13, 0, -6,    /* mean (0.237674), correlation (0.452525) */
    4, 1, 9, 3,        /* mean (0.23962), correlation (0.444824) */
    -6, -10, -3, -5,   /* mean (0.248459), correlation (0.439621) */
    -3, -13, -1, 1,    /* mean (0.249505), correlation (0.456666) */
    7, 5, 12, -11,     /* mean (0.00119208), correlation (0.495466) */
    4, -2, 5, -7,      /* mean (0.00372245), correlation (0.484214) */
    -13, 9, -9, -5,    /* mean (0.00741116), correlation (0.499854) */
    7, 1, 8, 6,        /* mean (0.0208952), correlation (0.499773) */
    7, -8, 7, 6,       /* mean (0.0220085), correlation (0.501609) */
    -7, -4, -7, 1,     /* mean (0.0233806), correlation (0.496568) */
    -8, 11, -7, -8,    /* mean (0.0236505), correlation (0.489719) */
    -13, 6, -12, -8,   /* mean (0.0268781), correlation (0.503487) */
    2, 4, 3, 9,        /* mean (0.0323324), correlation (0.501938) */
    10, -5, 12, 3,     /* mean (0.0399235), correlation (0.494029) */
    -6, -5, -6, 7,     /* mean (0.0420153), correlation (0.486579) */
    8, -3, 9, -8,      /* mean (0.0548021), correlation (0.484237) */
    2, -12, 2, 8,      /* mean (0.0616622), correlation (0.496642) */
    -11, -2, -10, 3,   /* mean (0.0627755), correlation (0.498563) */
    -12, -13, -7, -9,  /* mean (0.0829622), correlation (0.495491) */
    -11, 0, -10, -5,   /* mean (0.0843342), correlation (0.487146) */
    5, -3, 11, 8,      /* mean (0.0929937), correlation (0.502315) */
    -2, -13, -1, 12,   /* mean (0.113327), correlation (0.48941) */
    -1, -8, 0, 9,      /* mean (0.132119), correlation (0.467268) */
    -13, -11, -12, -5, /* mean (0.136269), correlation (0.498771) */
    -10, -2, -10, 11,  /* mean (0.142173), correlation (0.498714) */
    -3, 9, -2, -13,    /* mean (0.144141), correlation (0.491973) */
    2, -3, 3, 2,       /* mean (0.14892), correlation (0.500782) */
    -9, -13, -4, 0,    /* mean (0.150371), correlation (0.498211) */
    -4, 6, -3, -10,    /* mean (0.152159), correlation (0.495547) */
    -4, 12, -2, -7,    /* mean (0.156152), correlation (0.496925) */
    -6, -11, -4, 9,    /* mean (0.15749), correlation (0.499222) */
    6, -3, 6, 11,      /* mean (0.159211), correlation (0.503821) */
    -13, 11, -5, 5,    /* mean (0.162427), correlation (0.501907) */
    11, 11, 12, 6,     /* mean (0.16652), correlation (0.497632) */
    7, -5, 12, -2,     /* mean (0.169141), correlation (0.484474) */
    -1, 12, 0, 7,      /* mean (0.169456), correlation (0.495339) */
    -4, -8, -3, -2,    /* mean (0.171457), correlation (0.487251) */
    -7, 1, -6, 7,      /* mean (0.175), correlation (0.500024) */
    -13, -12, -8, -13, /* mean (0.175866), correlation (0.497523) */
    -7, -2, -6, -8,    /* mean (0.178273), correlation (0.501854) */
    -8, 5, -6, -9,     /* mean (0.181107), correlation (0.494888) */
    -5, -1, -4, 5,     /* mean (0.190227), correlation (0.482557) */
    -13, 7, -8, 10,    /* mean (0.196739), correlation (0.496503) */
    1, 5, 5, -13,      /* mean (0.19973), correlation (0.499759) */
    1, 0, 10, -13,     /* mean (0.204465), correlation (0.49873) */
    9, 12, 10, -1,     /* mean (0.209334), correlation (0.49063) */
    5, -8, 10, -9,     /* mean (0.211134), correlation (0.503011) */
    -1, 11, 1, -13,    /* mean (0.212), correlation (0.499414) */
    -9, -3, -6, 2,     /* mean (0.212168), correlation (0.480739) */
    -1, -10, 1, 12,    /* mean (0.212731), correlation (0.502523) */
    -13, 1, -8, -10,   /* mean (0.21327), correlation (0.489786) */
    8, -11, 10, -6,    /* mean (0.214159), correlation (0.488246) */
    2, -13, 3, -6,     /* mean (0.216993), correlation (0.50287) */
    7, -13, 12, -9,    /* mean (0.223639), correlation (0.470502) */
    -10, -10, -5, -7,  /* mean (0.224089), correlation (0.500852) */
    -10, -8, -8, -13,  /* mean (0.228666), correlation (0.502629) */
    4, -6, 8, 5,       /* mean (0.22906), correlation (0.498305) */
    3, 12, 8, -13,     /* mean (0.233378), correlation (0.503825) */
    -4, 2, -3, -3,     /* mean (0.234323), correlation (0.476692) */
    5, -13, 10, -12,   /* mean (0.236392), correlation (0.475462) */
    4, -13, 5, -1,     /* mean (0.236842), correlation (0.504132) */
    -9, 9, -4, 3,      /* mean (0.236977), correlation (0.497739) */
    0, 3, 3, -9,       /* mean (0.24314), correlation (0.499398) */
    -12, 1, -6, 1,     /* mean (0.243297), correlation (0.489447) */
    3, 2, 4, -8,       /* mean (0.00155196), correlation (0.553496) */
    -10, -10, -10, 9,  /* mean (0.00239541), correlation (0.54297) */
    8, -13, 12, 12,    /* mean (0.0034413), correlation (0.544361) */
    -8, -12, -6, -5,   /* mean (0.003565), correlation (0.551225) */
    2, 2, 3, 7,        /* mean (0.00835583), correlation (0.55285) */
    10, 6, 11, -8,     /* mean (0.00885065), correlation (0.540913) */
    6, 8, 8, -12,      /* mean (0.0101552), correlation (0.551085) */
    -7, 10, -6, 5,     /* mean (0.0102227), correlation (0.533635) */
    -3, -9, -3, 9,     /* mean (0.0110211), correlation (0.543121) */
    -1, -13, -1, 5,    /* mean (0.0113473), correlation (0.550173) */
    -3, -7, -3, 4,     /* mean (0.0140913), correlation (0.554774) */
    -8, -2, -8, 3,     /* mean (0.017049), correlation (0.55461) */
    4, 2, 12, 12,      /* mean (0.01778), correlation (0.546921) */
    2, -5, 3, 11,      /* mean (0.0224022), correlation (0.549667) */
    6, -9, 11, -13,    /* mean (0.029161), correlation (0.546295) */
    3, -1, 7, 12,      /* mean (0.0303081), correlation (0.548599) */
    11, -1, 12, 4,     /* mean (0.0355151), correlation (0.523943) */
    -3, 0, -3, 6,      /* mean (0.0417904), correlation (0.543395) */
    4, -11, 4, 12,     /* mean (0.0487292), correlation (0.542818) */
    2, -4, 2, 1,       /* mean (0.0575124), correlation (0.554888) */
    -10, -6, -8, 1,    /* mean (0.0594242), correlation (0.544026) */
    -13, 7, -11, 1,    /* mean (0.0597391), correlation (0.550524) */
    -13, 12, -11, -13, /* mean (0.0608974), correlation (0.55383) */
    6, 0, 11, -13,     /* mean (0.065126), correlation (0.552006) */
    0, -1, 1, 4,       /* mean (0.074224), correlation (0.546372) */
    -13, 3, -9, -2,    /* mean (0.0808592), correlation (0.554875) */
    -9, 8, -6, -3,     /* mean (0.0883378), correlation (0.551178) */
    -13, -6, -8, -2,   /* mean (0.0901035), correlation (0.548446) */
    5, -9, 8, 10,      /* mean (0.0949843), correlation (0.554694) */
    2, 7, 3, -9,       /* mean (0.0994152), correlation (0.550979) */
    -1, -6, -1, -1,    /* mean (0.10045), correlation (0.552714) */
    9, 5, 11, -2,      /* mean (0.100686), correlation (0.552594) */
    11, -3, 12, -8,    /* mean (0.101091), correlation (0.532394) */
    3, 0, 3, 5,        /* mean (0.101147), correlation (0.525576) */
    -1, 4, 0, 10,      /* mean (0.105263), correlation (0.531498) */
    3, -6, 4, 5,       /* mean (0.110785), correlation (0.540491) */
    -13, 0, -10, 5,    /* mean (0.112798), correlation (0.536582) */
    5, 8, 12, 11,      /* mean (0.114181), correlation (0.555793) */
    8, 9, 9, -6,       /* mean (0.117431), correlation (0.553763) */
    7, -4, 8, -12,     /* mean (0.118522), correlation (0.553452) */
    -10, 4, -10, 9,    /* mean (0.12094), correlation (0.554785) */
    7, 3, 12, 4,       /* mean (0.122582), correlation (0.555825) */
    9, -7, 10, -2,     /* mean (0.124978), correlation (0.549846) */
    7, 0, 12, -2,      /* mean (0.127002), correlation (0.537452) */
    -1, -6, 0, -11,    /* mean (0.127148), correlation (0.547401) */
};

} // namespace feature
} // namespace stella_vslam

#endif // STELLA_VSLAM_FEATURE_ORB_POINT_PAIRS_H
